Method and device for machining components

ABSTRACT

A method for machining components ( 8 ) which do not contain magnetic material is provided. The method comprises placing the component ( 8 ) on at least one clamping magnet arranged on a machining table, whereby at least one clamping element ( 52 ) in a magnetic material is arranged on that side of the component ( 8 ) which faces the clamping magnet. The clamping element ( 52 ) is activated by and cooperates with the clamping magnet to fix the component ( 8 ) in its position. The technical problem of improving the effectiveness of the material throughput of the method and reducing the space requirements of the device for carrying out the method is solved by having the clamping element match the form of the component ( 8 ). The invention further relates to a device for carrying out the method.

FIELD OF THE INVENTION

The invention relates to a method and a device for machining ofcomponents particularly applied in the production of metal plates,preferably on laser welding of various metal platelike components.

BACKGROUND OF THE INVENTION

The invention mainly relates to a method for machining of at least onecomponent consisting of a nonmagnetic material, in which the componentis positioned on at least one clamping magnet arranged on a machiningtable. At least one clamping element consisting of a magnetic materialis arranged on the component side averting the clamping magnet.Subsequently the clamping elements are activated, thus fixing thecomponent by the aid of the clamping magnet in its position on themachining table. A device accordingly designed and built also belongs tothe field of this invention.

In the method described herein above, it is known from prior art toconnect the clamping element, for example in the form of a magnetizablesteel plate, vertically adjustable with the machining table. If anonmagnetic component to be machined is laid onto the component supportof the machining table, the clamping element is moved down and pressedby means of activating the clamping magnets against the component to bemachined. Subsequently a machining of the component fixed in this manneris possible. After machining, the clamping element is raised again sothat the machined component can be passed on for further machining ortransport. Here too, the configuration of a vertically adjustableclamping element calls for quite substantial space. The movablearrangement of the clamping element moreover burdens the designexpenditure in the field of the machining table so that the spaceavailable in the area of the machining table is narrowed for otherapplications and machining possibilities.

Moreover, the invention relates to a method in which a first machiningtable is arranged in a charging position, and a second machining tablein a machining position within the working area of a machining device.At least one component is positioned and fixed in a first step on thefirst machining table, whereupon the first machining table is shifted tothe machining position and the second machining table to the chargingposition, using adjustment means for this purpose. At least onecomponent is machined by the machining device and then taken away by thefirst machining table. At the same time, at least one component isarranged and fixed on the second machining table. Subsequently, bothmachining tables are so adjusted that they change their positions, i.e.the first machining table is positioned again into the charging positionand the second machining table into the machining position. Anappropriately configured device to execute this method is known.

Known from prior art as per DE 195 26 466 C1 is such a method and anappropriate device for cutting and/or welding of metal plates. In theknown method, a multitude of machining tables are used which aretransported in revolving a mode, running through a multitude ofpositions as described in the following. In a first position, a firstcomponent is positioned and fixed on the machining table. In a secondposition lying at a certain distance, a second component is so arrangedon the machining table that it rests flush to the first component. In athird position, the two components are connected to each other by theaid of a machining device, sliding the machining table through themachining area of the machining device. In a fourth position, thefinished component is taken-off from the machining table. Subsequently,the machining table is transported back to the first position, its homeposition. Though this method allows for a clearly defined flow ofmaterial from the first to the fourth position of the machining table,it calls for a very large space, particularly demanded by thetransportation facility for transport of the machining tables.

In FIGS. 22 to 24 of the attached drawing, other methods and devicesknown by prior art are shown which particularly illustrate the flow ofmaterial as well as the great demand for space required in each case.FIG. 22 shows a machining table BT on which the two pre-blanks VP1 andVP2 are positioned in Step I. In Step II the machining table BT isshifted to a working area (shown in dotted lines) of a machining deviceBE with a field portal FP so that the two pre-blanks VP1 and VP2 can bewelded to each other. In Step IV, the machining table BT is reset backto its home position and the finished product FP is taken-off in StepIV. Apart from a flow of material that crosses and/or runs opposite toitself, this configuration bears the disadvantage of a slow cycle time.For before it is possible to arrange new pre-blanks VP1 and VP2 on themachining table BT, it is first required to take-off the finishedproduct FP.

FIG. 23 shows the course of another procedure which employs a secondmachining table BT2 in addition to the aforementioned method. In Step I,the pre-blanks VP1 and VP2 are positioned and fixed on the machiningtable BT1 arranged in the charging position, subsequently shifting themachining table BT1 in Step II into the working area of the machiningdevice BE. Then, in Step IV, the machining table BT1 is reset back intoits home position in which the finished product FP is taken-off in StepIV. In parallel thereto, but staggered in time, the same procedure runswith machining table BT2. Thus, the machining device can work moreeffectively, because two pre-blanks VP1 and VP2 can be processed to onefinished product FP consecutively and almost without any time delay. Butthe disadvantages here too, are the great demand for space which isparticularly needed by the much bigger configuration of the machiningdevice. Other disadvantages result from the non-linear flow of materialas well as due to the circumstance that the pre-blanks are laid-in andthe finished blanks taken-off at different positions.

FIG. 24, conversely, shows an arrangement composed of four machiningtables BT1 to BT4 which are arranged on a circular machining platform.In a first position, the two pre-blanks VP1 and VP2 are positioned onthe machining table BT1 in Step I. In Step II, the platform is turned by90° so that the machining table BT1 is arranged in the working area of amachining device BE1. The machining of the two pre-blanks VP1 and VP2takes place there.

By another rotation of the machining platform by 90°, another machiningdevice BE2 is reached which allows for any further machining of the justwelded pre-products. By another turn in Step IV, the machining tablegets into the take-off position in which the finished product istaken-off in Step V. By another rotation by 90° in Step VI, themachining table gets back into its home position and can be providedwith another two pre-blanks VP1 and VP2.

From the illustrated working mode, the relevant device evidences asubstantial space demand, because the machining platform, in particular,must have a suitable diameter in order to be able to machine pre-blanksof a usual size with dimensions in a range from 1 to 5 m.

Moreover, this invention also relates to a method for the provision ofcomponents in which a first pile of components is arranged in a firsttake-up area and a second pile of components in a second take-up area.With a reclaimer device, the components are then reclaimed either fromthe first pile or from the second pile. A device suitable for theexecution of this method also belongs to the field of this invention.

FIGS. 25 and 26 of the attached drawing show two devices for theprovision of components for the execution of the generic method. FIG. 25shows two take-up areas identified as security areas SB1 and SB2 wherepallets PA1 and PA2 can be positioned, for example by the aid offork-lift trucks. Arranged on pallets PA1 and PA2 each are piles ofequal pre-blanks VP. In the first Step I, the pallet PA1 is shifted intothe take-off area shown in dotted lines. From there, the pre-blanks VPare reclaimed from the pile in Step H and consecutively passed-on to themachining device BE until the pile will have been reclaimed entirely. InStep IV, the pallet PA1 is reset back into its home position, and inStep IV, the second pallet PA2 is shifted into the take-off area shownin dotted lines. Then, in Step V, the pre-blanks VP from pallet PA2 arefed to the machining device until here, too, the whole pile ofpre-blanks VP will have been worked-off. Subsequently, in Step VI, thepallet PA2 is reset back into its home position. At the same time, a newpallet PA1 has been introduced into the security area SB1 as supply NS1which can then be processed for a further procedure at the start of anew cycle with Step I. Accordingly staggered in time, the supply NS2 forpallets PA2 is realized in security area SB2. Hereof, it results thatapart from the demanded large space and apart from the relevantexpenditure on fencing of two security areas SB1 and SB2, there is thedisadvantage that the cycle rate during the pallet exchange issubstantially delayed. In the device for provision of components asshown in FIG. 26, therefore, the two pallets PA1 and PA2 are fed to twodifferent take-off areas shown in dotted lines. Besides, the course ofthe various process steps I to VI is configured appropriately asdescribed in connection with FIG. 25. Though a constant cycle rate isthus ensured throughout for the feed of pre-blanks to a machiningdevice, the demand for space and the expenditure on providing securityareas is much higher versus the device shown in FIG. 25.

SUMMARY AND OBJECTS OF THE INVENTION

Hence, the technical problem to be solved by this invention is to reducethe disadvantages known from the prior art, particularly relative to theeffectiveness of the flow of material in these processes and relative tothe space demanded by the devices required for these processes.

According to this invention, the aforementioned technical problem issolved by a method for machining of at least one component consisting ofa non-magnetic material, in which the component is positioned on atleast one clamping magnet arranged on a machining table, in which atleast one clamping element consisting of a magnetic material is arrangedon the component side averted from the clamping magnet and in which theclamping magnets are activated and wherein the component is fixed in itsposition, with the clamping element being adapted to the shape of thecomponent.

Thus, it is possible in a reliable manner, also for two-dimensionalmachining lines, no matter whether for connection of two components orfor cutting-apart of one component, to fix at least one component insuch a way that a secure fixing of the non-magnetic component to bothsides of the machining line is ensured. Therefore, it allows for aflexible machining of different components which have bent or corneredmachining lines.

For a connection of two components, these are positioned and fixed onthe machining table. The clamping elements allotted to the componentsand arranged on the non-magnetic component side averted from theclamping magnets, expose an area of a pre-defined width along at leastone machining line which in this case represents the contact line of thetwo components. Thus, the end effector of the machining device canconnect, preferably by welding the two components in this exposed area.

However, if it is intended to cut a component apart, then it is firstpositioned on and fixed at the machining table. At least two clampingelements which in their shape correspond to the two components obtainedafter the component has been cut apart are so positioned that theyexpose an area with a defined width along at least one machining line.Subsequently, the component is cut apart along this line. In these twocases described herein above, the clamping elements ensure that adjacentto the machining line at least one component is reliably pressed againstthe component support of the machining table. Thus it is prevented thatthe component and/or components change(s) its (their) position(s) duringmachining. As the clamping element is adapted to the shape of thecomponent, it can also be designated as a component-specific clampingelement.

In a preferred manner, after machining of at least one component, atleast one clamping element is taken-off from the machining table.Subsequently at least one clamping element is positioned on at least onedeposition table and the machined component and/or the machinednon-magnetic components is (are) taken-off from the machining table. Theclamping element deposited on the deposition table can then be taken-offfor a new charging procedure and be positioned, together with at leastone new non-magnetic component to be machined onto the machining tablearranged in the charging position. Thus, a circulation of clampingelements is generated which are transported from the deposition table tothe machining table arranged in a charging position in order to positionand fix a non-magnetic component on the component support with clampingmagnets. Then, the machining table is set to the machining position inwhich the machining of at least one component is carried-out.Subsequently, the clamping element is transported back to the depositiontable. Thus, the two positions in which the machining table is chargedon the one hand, and discharged again on the other hand can be providedfor separately of each other.

Hence, the method proposed by this invention provides for a highflexibility in the machining of non-magnetic components. On the onehand, the shape of the clamping elements can be adapted to the shape ofthe components to be machined. On the other hand, the guidance of theclamping elements in circulation bears the advantage that a directiveflow of material can be provided for, without this calling for a highconstructive expenditure on stationary clamping elements which would berequired for positioning and machining at one and the same position of amachining table. In a particularly preferred manner, therefore, themobile circulation of clamping elements can be applied with onemachining table, alternately taking a charging position as well as amachining and a take-off position. In particular, this is given with themethod and the appropriate device for machining of components which isdescribed hereinafter and which can be designated as a double-shiftingtable.

As a matter of fact, the described method, by use of clamping elements,can also be applied if only one part of the components to be machined isnon-magnetic, while the other components are magnetic. This may be ofparticular advantage if magnetic and non-magnetic components are to bewelded to each other.

The technical problem outlined herein above is also solved by a methodfor machining of components by arranging two machining tables atdifferent planes one above the other and by linearly shifting themachining tables between the charging position and the machiningposition. Thus it is ensured that the machining tables must be arrangedat two defined positions only. On the one hand, it is the chargingposition at which the at least one component to be machined ispositioned and fixed on the machining table. On the other hand, it isthe machining position in which a machining device machines at least onecomponent. Therefore, the device can also be designated as a“double-shifting table”. In fact, the aforementioned configuration hasan autonomous character, independent from the inventive method describedherein above.

After machining, the machined component(s) is (are) taken-off from themachining table. The charging position and the machining position arearranged at a linear distance to each other and the flow of material isclearly defined. For the components to be machined are fed to thecharging position, the machining table transports the components to themachining position and proceeding from this machining position, thefinished components are taken-off for another machining and/or foroff-transportation. Thus, the components realize a flow of material inone direction, which reduces the space demand of the relevant machiningdevice. But the space demand is also reduced in that the componentsserving for the feed of the components to be machined and/or foroff-transportation of finished components can be arranged at a narrowspace near the machining device. For example, it isn't required torealize both a charging and discharging at one position of the machiningtable.

The method described herein above and the relevant device can beemployed on the one hand for connecting at least two components on themachining table. On the other hand, an application for cutting-apart ofone component can be realized. The differences merely lie in how manycomponents are positioned on the machining table and how many componentshave to be taken-off from the machining table in the machining position.

As the two machining tables are arranged as tables being movable aboveeach other at different planes, it is a preferred manner to adapt thevertical position of an end effector of the machining device to thevertical position of the relevant machining table in the working area ofthe machining device. Thus the differences in height between the twomachining tables are offset in a simple manner. Conversely, it is alsopossible, for example, to configure the lower table of the two machiningtables as a vertically adjustable table so that it can be raised in themachining position by a defined distance. In that case, it will not berequired to adapt the vertical position of the end effector.

Furthermore, it is a preferred way to provide a stopping frame by theaid of which the at least one component is shifted on the machiningtable. Here, too, it is preferred to adapt the vertical position of thestopping frame to the height position of the relevant machining table inthe charging position.

Moreover, the at least one component is positioned by the aid of atleast one jointing robot on the machining table. Likewise, it is alsofeasible to execute the take-off of the finished component from themachining table in the machining position by the aid of a reclaimerrobot. For both robots it is then preferred to adapt the verticalposition of the grabbing element of the jointing robot and/or of thereclaimer robot to the vertical position of the machining table arrangedin the charging position and/or machining position.

On the whole, it becomes evident that the arrangement of the twomachining tables at different planes is not detrimental to the method,since a difference in height depending on the arrangement of themachining table in the upper or lower plane can be offset simply andeffectively because of the automated manipulation and machining of atleast one component.

The following advantages result from the aforementioned course of theprocedure as well as from the relevant set-up of the device. One the onehand, it ensures a clear flow of material from one side of the machiningdevice to the other side so that the components do not meet each otheror cross their way during one machining cycle. Another advantage lies inthe small number of machining tables. It is because to realize thecourse of the procedure according to this invention, only two machiningtables are required which have to be adapted in their clamping techniqueto the outer configuration of at least one component to be machined inorder to execute a series production. Finally, the small number ofmachining tables and the clear flow of material lead to little demandfor space.

The technical problem outlined herein above is also solved by a devicefor grabbing of two separate objects with a grabbing device comprised ofa grab arm, a suction frame affixed to the grab arm, and a multitude ofsuction elements connected to the suction frame in that a grabbingdevice for grabbing of the first object is affixed to the grab arm andthat the suction elements extend through the openings arranged in thefirst object and grab the second object. In fact, the aforementionedconfiguration has an autonomous inventive character independent of theinventive method described herein above.

On account of the aforementioned configuration of the grabbing device,it is a preferred manner of operation to grab the first object at firstin one work step and to transport it to the deposition place of thesecond object. There, the suction elements are moved up to the surfaceof the second object, for the purpose of which openings are arranged inthe first object according to the positions of the suction elements.Subsequently, the grab arm can transport both objects to the commondisposition place. There, it is possible to deposit both objects in sucha manner that the first and the second object can be aligned to eachother and be positioned centrally.

For this purpose, both the suction frame, the arrangement of the suctionelements and the grabbing device are preferably configuredcomponent-specifically. If the first object is made of a magneticmaterial, the grab device may also be of a magnetically effectiveconfiguration, apart from a generally possible mechanical configuration.The second object, on the contrary, may be of any material, merely itssurface shall allow for the adherence of suction elements.

In another preferred manner, the-first object is configured as aclamping element made of a magnetic material and the second object isprovided as a component made of a non-magnetic material. Thereby, it ispossible to use the device for the grabbing of two separate objects withan aforementioned device for machining of components consisting of anon-magnetic material. With this device, it is in particular possible tomake use of the advantage that merely one grab arm preferablymanipulated by an appropriate robot is needed in order to position boththe clamping element and the component to be machined on a machiningtable. Since both objects, i.e., the clamping element and the component,are moreover deposited simultaneously, substantially less time is neededfor this process than if the grab arm first transported the component,and then the clamping element to the machining table.

In accordance with another, in fact autonomous doctrine, the technicalproblem outlined herein above is solved by the application of the methodbeing the subject of this invention with a procedure for the provisionof components in that the first take-up area and the second take-up areafor the piles of components are arranged at least partly, preferablycompletely one above each other. In this manner, the advantage realizedis that no time delay occurs during the exchange of piles of components,but that at least one pile of components is made available to areclaimer robot. However, since the two piles of robots are arranged oneabove the other, the ground area of a device needed to realize theprocedure of providing components is the ground area required for makingavailable only one pile of components. Thus, the space demand needed torealize constant availability of one pile of components is cut into halfas compared with prior art technology.

A compact arrangement of several devices for the provision of componentsis thus made possible.

This advantage will take effect especially if the positioning andmachining of components is also accomplished in a narrow space,particularly if the machining tables on which the components are to bearranged and positioned are arranged in merely one charging position tothis effect. However, by way of the configuration of this method and thedevice being the subject of the invention, direct access of threedevices or more for provision of components to the charging position ofthe machining table and/or machining tables is made possible.

Moreover, it is preferred that the components of a pile lying one abovethe other are singularized by the aid of a singularization device andthat the singularization device is moved by the aid of a lifting deviceat least within two vertical sections that correspond with the take-upareas. Thus, the singularization device can be positioned where theallocated take-off device, for example a reclaimer robot, takes-offsingle components from the pile. By the aid of the lifting device, onlyone singularization device is required for both take-up areas. Thisreduces the space demand and cuts costs.

The advantage of low costs on the whole is also achieved by theinventive device for providing of components. As the spatial area whichan automatic take-off device like a reclaimer robot can have access tomust be extensively protected from access by human beings, theaforementioned cut in space demand by half as compared with prior arttechnology also leads to a reduction in the expenditure on securitymeasures. This leads to the aforementioned advantage in production costsof the inventive device for the provision of components.

The aforementioned methods and devices are preferably applied for atwo-dimensional machining of plane components. But it is emphasized thatthe methods and devices are not restricted to a machining oftwo-dimensional components; that they are also suitable for athree-dimensional machining of components. As outlined before, themethods and devices can be utilized for joining, particularly forwelding by means of a laser welding equipment. Moreover, the methods anddevices can also be applied for cutting-apart a component, as one mayreadily realize. Even though the invention is described in detailhereinafter by way of examples of a laser welding equipment, it is notrestricted to this application.

The various features of novelty which characterize the invention arepointed out with particularity in the claims annexed to and forming apart of this disclosure. For a better understanding of the invention,its operating advantages and specific objects attained by its uses,reference is made to the accompanying drawings and descriptive matter inwhich a preferred embodiment of the invention is illustrated.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings:

FIG. 1 is a top view showing a device for machining of components withtwo adjustable machining tables;

FIG. 2 a side view transversely to the adjustment device showing thedevice illustrated in FIG. 1;

FIG. 3 is a view taken longitudinally to the adjustment device showingthe device illustrated in FIGS. 1 and 2;

FIG. 4 is a view showing a component support for the componentsillustrated in FIG. 5;

FIG. 5 is a view showing a geometrical configuration of the componentsto be processed in the machining device;

FIG. 6 is a top view showing a first embodiment of a laser weldingequipment;

FIG. 7 is a side view showing the laser welding equipment illustrated inFIG. 6;

FIG. 8 is a plan view showing a second embodiment of a laser weldingequipment with an automatic feed of two components to be welded to eachother;

FIG. 9 is a plan view showing a third embodiment of a laser weldingequipment with an automatic feed of three components to be welded toeach other;

FIG. 10 is a side view of the laser welding equipment illustrated inFIG. 9;

FIG. 11 is a view showing a geometric configuration of the components tobe processed in the laser welding equipment illustrated in FIGS. 8 and9;

FIG. 12 is a view of a component support for the components illustratedin FIG. 11;

FIG. 13 is a view showing a fourth embodiment of laser welding equipmentwith a device for machining of components consisting of non-magneticmaterial;

FIG. 14 is a top view showing two component-specific clamping elements;

FIG. 15 is a side view showing a device for grabbing of two separateobjects, partly intersected;

FIG. 16 is a top view showing a device for provision of components in atop view;

FIG. 17 is a side view showing the device illustrated in FIG. 16 in afirst working position;

FIG. 18 is a side view showing the device illustrated in FIG. 16 in asecond working position;

FIG. 19 is a side view showing a singularization device forsingularization of components lying one above the other in a deviceillustrated in FIGS. 16 to 18 for provision of components;

FIG. 20 is a view showing a partial extract from FIG. 19;

FIG. 21 is a top view showing the singularization device illustrated inFIG. 19; and

FIGS. 22-26 show the prior art devices for machining and provision ofcomponents.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to the drawings in particular, FIGS. 1 to 3 show a device formachining of components which is generally designated with 100, whichhas a machining device 1 and two machining tables 2 and 3. Furthermore,the device has a base frame 4 as well as a set-up frame to which themachining device 1 as well as the machining tables 2 and 3 are affixedin movable arrangement.

On the machining tables 2 and 3, fixing devices 6 and 7 each arearranged for fixing at least one component 8. Furthermore, adjustmentmeans 9 are provided for, by the aid of which the machining tables 2 and3 are shifted between a charging position A and a machining position Bwithin the working area of the machining device 1.

As becomes evident, particularly from FIGS. 2 and 3, the machiningtables 2 and 3 are arranged at different planes one above the other, theadjustment means 9 shifting the machining tables 2 and 3 in bothdirections between the charging position A and the machining position B,as illustrated by the double arrow in FIG. 2. The machining table 2 isadjustably arranged in an upper plane, while the machining table 3 ismovably arranged underneath of the machining table 2. To allow for theadjustability of the machining tables 2 and 3, the adjustment means 9are configured as linear guides 10 and/or 11 with the carriages 12and/or 13 being engaged therewith. Furthermore, the adjustment means 9have an upper linear drive 14 and a lower linear drive 15. Since itmatters to achieve an exact positioning of the machining tables 2 and 3both in the charging position A and in the machining position B,appropriate positioning means, for example limit switches and/ormeasuring instruments, are provided to determine the linear position ofthe machining tables 2 and 3 in a conventional manner. For the sake ofclarity, these have been omitted in the embodiment shown in FIGS. 1 to3.

The machining device 1 which in this case is configured as a laserwelding equipment has an end effector 16 which is configured as a laserwelding head as well as three-dimensional kinematics 17 to adjust theend effector 16 relative to the component 8 to be machined and/orrelative to the machining tables 2 and 3. For this purpose, themachining device 1 is configured as a field portal 18, with it beingpossible to adjust the field portal 18 by the aid of linear guides and alinear drive along the set-up frame 5 in the adjustment direction C ofthe machining tables. Furthermore, the end effector 16 is affixed by wayof a linear guide 21 as well as an allocated linear drive to portal 18in order to be able to be adjusted transversely to the adjustment deviceC of the machining tables 2 and 3. In addition thereto, the end effector16 can be shifted vertically in both directions, as illustrated by thearrow D in FIG. 2. For this purpose, in turn, a linear guide 23 as wellas a linear drive are provided for. Due to the adjustability of the endeffector 16 in vertical direction D, in particular, it is possible tomachine components arranged on machining tables 2 and 3, said componentsbeing arranged at a different elevation depending on the relevantmachining table 2 or 3. To this effect, it is merely required toconsider the height difference between the two machining tables 2 and 3when approaching the vertical position of the end effector 16.

As illustrated in FIG. 2, the device for machining of a component maytake various positions. Marked by straight lines, the machining tables 2and 3 are so illustrated that the machining table 2 is located in thecharging position A, with the machining table 3 being located in themachining position B. Shown in dotted lines are the opposite positionswhich result after a linear shifting of both machining tables 2 and 3.Moreover, the end effector 16 is shown in an end position shifted insliding direction C, with another position further ahead in slidingdirection C shown in dotted lines.

FIG. 4 shows the fixing device 6 for fixing of at least one component 8.For this purpose, the fixing device is configured as component support25 which is adapted to the shape of the components 8 a and 8 b shown inFIG. 5. On the component support 25, the fixing elements 26 configuredas clamping magnets are arranged at both sides of the weld seampredetermined by the two components 8 a and 8 b. Furthermore, componentsupport ledges 27 are allotted on the component support 25 in such amanner that the plane components 8 a and 8 b can be arranged in adefined position.

As is furthermore shown by FIGS. 1 and 2, a stop frame 28 to adjust thetwo components 8 a and 8 b is arranged vertically adjustable aboveposition A. Fixed at the stop frame 28 is a component-specific T-squareby which the component 8 a and/or 8 b can be aligned. For clarity's sakethe T-square is not depicted in these figures. The stop frame 28 isfixed by means of a linear guide 29 and a linear drive via a rack 31 atthe set-up frame 5.

To adjust components 8 a and 8 b, the stop frame 28 with the T-square ismoved down in the direction of the still empty component support 25 ofone of the machining tables 2 and 3, bringing the T-square in a positionresting on the component support. Subsequently, the components 8 a and 8b are inserted by means of a jointing robot described further below andbrought in a position resting on the stop edge of the T-square. The stopframe 28 has sufficient distance to the component support 25 so that thejointing robot can laterally engage into the area underneath the stopframe and position the component 8 a and 8 b, respectively.

After positioning of the components 8 a and 8 b, the clamping magnets 26are activated, thus fixing the components 8 a and 8 b in their positionon the component support 25 which is predetermined by the stop frame 28.Subsequently, the stop frame 28 with the rack is again moved up asdepicted by the double arrow E.

FIGS. 6 and 7 illustrate a first configuration of a laser weldingequipment into which the aforementioned device 100 for machining ofcomponents as depicted in detail in FIGS. 1 to 3 is inserted. From thefollowing description of the functional mode of the laser weldingequipment, result the advantageous directed flow of material as well asother advantageous properties associated with the use of the device 100which can also be designated as a double-shifting table.

With this laser welding equipment, piles of components 8 a and 8 b arearranged in pairs on pallets 32 a, 32 b, 32 c, and 32 d. One operatoreach either takes components 8 a or components 8 b from the piles andpositions them on a pre-positioning table 33 a or 33 b.

Both pre-positioning tables 33 a and 33 b are arranged within a firstsecurity area 48 a, with the bearing support of the pre-positioningtable 33 a and/or 33 b being withdrawable from this security zone 48 aso that the operator can deposit one component 8 a and/or 8 b each at apredefined position on the deposition area of the pre-positioning table33 a or 33 b. The deposition area is then slid into the security area 48a where it is available for further handling.

To join the two components 8 a and 8 b, two jointing robots 35 a and 35b are provided for which by the aid of their grab arms 36 a and 36 b,and by way of the suction frames affixed thereto take-off one component8 a or 8 b each from the relevant pre-positioning tables 33 a or 33 band which position them on one of the machining tables 2 or 3 being incharging position in the manner described herein above, using the stopframe 28. Thus, the manually supplied components 8 a and 8 b arepositioned and fixed on the machining table 2 and 3, respectively.

For this purpose, the grab arm 36 a and/or 36 b has a floating joininghand for a compression controlled positioning of the components 8 a and8 b, respectively.

At the end of a machining cycle, in accordance with the functionality ofthe double-shifting table 100 described herein above, there will be acomponent 8 welded together from the two components 8 a and 8 b which istaken-off of the machining table 2 and/or 3 prior to the next machiningcycle and fed forward for further processing.

A possible configuration of a further processing is illustrated in FIGS.6 and 7 each in the right half. A reclaimer robot 38 takes the finishedcomponent 8 from the machining table 3 by means of its grab arm 39 andthe suction frame 40 connected therewith. In combination with a reversalrobot 41 of a similar configuration, the welded component 8 can bereversed. Subsequently, the component 8 is deposited on a beadingvehicle 42. The beading vehicle 42 introduces the component 8 into abeading press, if differently thick components 8 a and 8 b have beenwelded with each other. A multitude of beads will then be engraved intothe thinner section of the welded component 8 in order to offset thedifference in thickness. Subsequently, the beading vehicle is againreset to its home position and taken-up by the aid of a stacker robot44. The stacker robot 44 is of the same configuration as those describedherein above. Initially, there is the option that the stacker robot 44deposits the component 8 on an inspection table 45 withdrawable from thesecurity area 48 d to effect an inspection of the finished component 8.If the inspection and/or a quality control effected during welding inmachining device 1 ends up with a negative result, the component 8 isdeposited by stacker robot 44 on a wooden pallet 46 and taken-out of theflow of material. In case of a positive quality control, the stackerrobot 44 deposits the component 8 on one of two pallets 47 a or 47 bwhich are transported away when the pile height is appropriate.

From FIGS. 6 and 7, it furthermore results that a multitude of securityareas 48 a to 48 e are provided by the aid of suitable security fencesin order to satisfy the security requirements of an automatic materialmachining facility. However, since the outfit of security areas does notbelong to the object of this invention, it is refrained from depictingthe allocation of security areas in detail.

From the aforementioned description of the machining course, thedirected flow of material results which is marked by the input arrows Fon the one hand and the output arrows G in FIG. 6 on the other hand.

FIG. 8 shows another embodiment of a laser welding equipment, with thesame reference symbols designating the same components as described indetail in connection with the embodiment described before.

In contrast with the laser welding equipment described before, thecomponents 8 a and 8 b are not supplied manually, but by the aid of forklift trucks 80 to a device for provision of components which in generalare marked with number 10. Later-on, the device 110 will be explained indetail in connection with FIGS. 16 to 21, making reference thereto atthis point. In result, two piles of components 8 a and 8 b arranged oneabove the other are provided in each device 110. For automatic take-offof components 8 a and 8 b, reclaimer robots 49 a and 49 b are providedwhich reclaim a component 8 a or 8 b from an upper or lower pile eachand deposit it on the relevant pre-positioning tables 50 a and 50 b.Proceeding from the prepositioning tables 50 a and 50 b, the components8 a and 8 b are taken-off by the jointing robots 35 a and 35 b andsupplied to the machining table 2. Subsequently, the machining iseffected as described herein above by way of FIG. 6.

FIGS. 9 to 12 show another embodiment of a laser welding equipment, withthe same reference symbols designating the same components as describedin detail in connection with the embodiments described before.

The difference of the laser welding equipment of FIGS. 9 and 10 ascompared with the preceding embodiments lies in that three components 8c, 8 d, and 8 e are to be welded together to one component, the shapesof which are depicted in FIG. 11. The pertaining component support 25 isshown on FIG. 12. With the appropriately arranged clamping magnets 26and the component support ledges 27, it is adapted to the shape of thecomponents 8 c, 8 d, and 8 e. Thus it is required now to supply threedifferent components instead of two components as described herein aboveto the double-shifting table. This has been solved in the followingmanner.

In accordance with the material input depicted by arrows F, pallets aresupplied by the aid of fork lift trucks 80 to a device 110 for theprovision of components. Reclaimer robots 49 a, 49 b, and 49 c areprovided for automatic take-off of components 8 c, 8 d, or 8 e. Thereclaimer robots 49 a, 49 b, and 49 c reclaim one component 8 c, 8 d, or8 e from an upper or lower pile each and deposit it onto the relevantpre-positioning tables 50 a, 50 b, and/or 50 c. For precisepredefinition of the position of components 8 c, 8 d, and 8 e, centeringpins 51 are provided, see FIG. 10. Proceeding from the pre-positioningtables 50 a, 50 b, and 50 c, the components 8 c, 8 d, and 8 e aretaken-off by the jointing robots 35 a, 35 b, and 35 c and supplied tothe machining table 2 which as per FIG. 9 is arranged in chargingposition. After a change of machining tables 2 and 3, the three metalsheets 8 c, 8 d, and 8 e are welded together in the machining device 1,whereupon the finished component 8 is post-treated in the manner asdescribed in connection with FIGS. 6 and 7. Here, too, it is valid thata clear-cut flow of material from the left to the right side as perFIGS. 9 and 10 is given which, in turn, is identified by arrows F and G.

FIG. 13 depicts another example of an embodiment of the laser weldingequipment, the overall set-up of which mainly corresponds with the laserwelding equipment with manual supply of components 8 a and 8 b asillustrated in FIG. 6. Hence, the same reference symbols correspond withthe same construction elements as in the examples of embodimentsdescribed herein above.

The difference versus the embodiment as per FIGS. 6 and 7 lies in that adevice for machining of components consisting of a non-magnetic materialis integrated in the double-shifting table 100. Arranged as fixingelements 26 on the component support 25 of the machining tables 2 and 3are the clamping magnets. The non-magnetic components 8 f and 8 g arearranged by the jointing robots 35 a and 35 b on the component supportledges 27 and the fixing elements 26 in the manner described hereinabove. Clamping elements 52 a and 52 b are arranged over the components8 f and 8 g. Thus the clamping elements 52 a and 52 b are arranged onthose sides of components 8 f and 8 g which are averted from theclamping magnets 26. If the clamping magnets 26 are activated, theclamping elements 52 a and 52 b press the two components 8 f and 8 g tothe component support 25. In this manner, a magnetic fixing ofnon-magnetic components is realized.

FIG. 14 shows the two clamping elements 52 a and 52 b which, forexample, have the shape of a frame and are made of a magnetic steel.Shown in dotted lines are the two components 8 f and 8 g, whereof itresults that the clamping elements 52 a and 52 b each are adapted to theshape of the component 8 f and 8 g to be affixed. Thus, even with a notexclusively straight course of a weld seam between two components 8 fand 8 g, it is ensured that the area of the weld seam, in particular, isevenly and reliably fixed on the component support.

Though the clamping elements 52 a and 52 b are adapted to the outershape of components 8 f and 8 g, the clamping elements 52 a and 52 bexpose the relevant components 8 f and 8 g at least along the area to bemachined, i.e., along the weld seam of component 8 f and/or 8 g. This isrealized in that the relevant outer edge of the clamping element 52 aand/or 52 b is staggered back by a defined distance. Thus, acomponent-specific clamping element 52 a and/or 52 b results for each ofthe separate components 8 f and 8 g.

As becomes evident from FIG. 14, both clamping elements 52 a and 52 bhave centering holes 3 which co-operate with centering pins 51 arrangedat defined positions on the prepositioning table 33 a and/or 33 b. Asthe centering holes 53 are in flush alignment with one edge of thecomponent 8 f and/or 8 g each, the components 8 f and 8 g can also bealigned by the centering pins 51. Thus, a common centering of clampingelements 52 a and 52 b with the components 8 f and 8 g is accomplished.

As shown in FIG. 13, the clamping elements 52 are used for the machiningof non-magnetic components 8 f and 8 g by the aid of a double-shiftingtable 100. Arranged at both sides of the double-shifting table 100 toserve as a further element for both clamping elements 52 a and 52 b arethe deposition tables 55 a and 55 b. A machining cycle is accomplishedas follows.

For positioning of a component 8 f, the jointing robot 35 a at firsttakes the clamping element 52 a from the deposition table 55 a andtransports it to the pre-positioning table 33 a. There, the clampingelement 52 a is lowered onto the component 8 f, pre-positioned there andby means of the centering pins, both the clamping element 52 a and thecomponent 8 a are aligned and centered towards each other. Subsequently,the jointing robot 35 a grabs both the clamping element 52 a and thecomponent 8 a, and transports both to the machining table 2 which isarranged in the charging position. There, by means of the floatingjointing hand of the jointing robot 35 a, the component 8 a is alignedtogether with the clamping element 52 a at the stop frame and positionedon the component support 25.

The clamping element 52 b and the non-magnetic component 8 b arepositioned on the machining table 2 in the same manner.

After machining of the two non-magnetic components 8 a and 8 b in themachining direction 1, prior to taking-off the machined component 8, theclamping elements 52 a and 52 b are at first taken-off by the reclaimerrobot 38 and reversal robot 41 from the machining table and deposited onthe relevant deposition tables 55 a and 55 b. To this effect, thesecurity area 48 b is opened briefly by a sliding gate 78 versus thesecurity area 48 a as depicted by the double arrow. The clampingelements 52 a and 52 b thus are available for a new machining cycle.Hereof, it results a guidance of the clamping elements 52 a and 52 b ina circulation so that a mobile guidance of the clamping elements 52 aand 52 b is realized which satisfies the needs of a directed flow ofmaterial during the use of the double-shifting table 100.

As shown on FIG. 15, the two jointing robots 35 a and 35 b arespecifically configured to grab both the clamping element 52 and therelevant component 8 and to supply them to the machining table 2 and 3,respectively. To this effect, the jointing robots 35 each have a devicefor grabbing of two separate objects with a grab arm 36, a suction frame37 affixed to grab arm 36, and a multitude of suction elements 56 whichare connected to the suction frame 37. Moreover, a magnetic grabbingdevice 57 is provided by the aid of which the clamping element 52 madeof magnetic steel can be grabbed. For example, this is accomplished onthe deposition table 55. As illustrated on FIG. 13 and, particularly, onFIG. 14, the frame of the clamping element 52 has a multitude ofopenings 58. As shown on FIG. 15, to grab the non magnetic component 8,the suction elements 56 extend through the openings 58 in clampingelement 52 to rest at component 8. Thus, the device can grab thenon-magnetic clamping element 52 as well as the non-magnetic component 8and feed them together to a machining table, for example to machiningtable 2 and/or 3 of the double-shifting table 100.

As becomes evident from FIGS. 14 and 15, both the magnetic grabbingdevice 57 and the suction frame 37 are component-specifically configuredwith the suction elements 56, i.e. they are adapted to the outer shapeof the clamping elements 52 and components 8 which are to be grabbed.

Moreover, on FIG. 15, one can see the use of the centering pin 51,around which the centering hole 53 of the clamping element 52 extends.Thus, the clamping element 52 is centered relative to the pre-positionedcomponent 8 so that a centering towards each other is also accomplishedduring the jointing of both parts.

As furthermore shown on FIG. 15, the suction frame 37 is affixed to afloating jointing hand which is known from prior art technology and byway of which it is possible to effect a precise positioning ofcomponents 8 on machining table 2 and 3, respectively, without thiscausing too great a bearing force that might damage the component edge.

On FIGS. 8 to 10 which have already been described herein above, devices110 for provision of components have been mentioned. In the following, adetailed outline of the device 110 will be given on the basis of FIGS.16 to 21.

The device 110 for provision of components has a first take-up area 60to take-up a first pile of components 8 as well as a second take-up area61 to accommodate a second pile of components 8. Moreover, a reclaimerdevice in the form of a reclaimer robot 49 is provided which reclaimscomponents 8 optionally from the first pile or from the second pile. Asbecomes evident particularly from FIGS. 17 and 18, the take-up areas 60and 61 are arranged one above each other so that the required groundarea for both piles of components 8 is required only once. Therefore,two piles of components 8 can be provided at minimum space requirements,as becomes evident from the top view of FIG. 16, in particular.

The jointing robot 49 has a grab arm 63, which a suction frame 64 isaffixed to.

Connected to the suction frame 64 is a multitude of suction elements 62to grab components 8. By way of an appropriate approach to the reclaimerrobot 49, components 8 are optionally taken either from the upper pilein the first take-up area 60, see FIG. 17, or from the lower pile in thesecond take-up area 61, see FIG. 18. Shown on the two FIGS. 17 and 18each is the lowered position of the suction elements 62. If allcomponents 8 of a pile are reclaimed by reclaimer robot 49, the take-offof components 8 from the lower second pile can then be continued withoutany time delay, with it being possible to bring a new pile of components8 with a fork lift truck 80 into the first take-up area 60.Subsequently, if the second pile of components 8 in the second take-uparea 61 has been exhausted, the take-off of components 8 can again beaccomplished in the first take-up area 60, while a new pile ofcomponents 8 is arranged in the second take-up area.

Thus, it results a tower-like set-up of the device 110 for provision ofcomponents which covers a minimum ground area. Consequently, theexpenditure on shielding the take-up areas 60 and 61 is smaller than theone required by prior art technology so that the production costs ofdevice 110, in particular, can be reduced. The production costs are alsoreduced substantially because there is no need for adjustment devicesfor the pallets to effect adjustments between a charging position and areclaiming position.

Lifting gates 65 and 66 are provided to serve as security devices, withthe lifting gate 65 blocking access to the relevant active take-up area60 and/or 61, while the lifting gate 66 prevents intervention of thereclaimer robot 49 into the relevant passive take-up area 60 and/or 61.This becomes evident by a comparison of FIGS. 17 and 18.

To ensure safe and secure reclaiming of components 8, a singularizationdevice 67 is provided which is moved by a lifting device 68 within bothtake-up areas 60 and 61. Thus, the singularization device can be movedeach into the active take-up area 60 and/or 61 from where the reclaimerrobot 49 is taking-off the components 8 at a given moment. Hence, it isagain possible to economize on costs, because only one singularizationdevice is required for each device 110 for provision of components 8.

Shown on FIGS. 19 to 21 are the details of the singularization device 67as well as of the lifting device 68. According to FIG. 20, the liftingdevice has a singularization magnet 69 which can be moved horizontallyalong a mechanical guide 70. The mechanical guide 70, in turn, ismovably arranged along a magnetic beam 71, which a mechanical guide 72is provided for. Thus, the position of each singularization magnet 69along the magnetic beam 71 can be adjusted individually and adapted tothe shape of a component 8 that is to be singularized. The magnetic beam71 is affixed to a lifting arm 74 in a swivelling arrangement aroundaxis 73, said lifting arm 74 being affixed to an x-carriage. Thex-carriage is affixed in linearly adjustable arrangement to a z-carriagewhich is affixed in vertically adjustable arrangement to a rack 77.Thus, the lifting device 68 can adjust the singularization magnets 69 tooptional positions within the take-up areas 60 and 61. The rack 77, inturn, is linked to the frame 78 of the device 110.

To elucidate the movement of the singularization magnet 69 as well as ofthe lifting device 68, various positions are represented in dottedlines. The same applies to FIG. 19 which shows two different liftingpositions of the lifting device 68 in straight and dotted lines.

While specific embodiments of the invention have been shown anddescribed in detail to illustrate the application of the principles ofthe invention, it will be understood that the invention may be embodiedotherwise without departing from such principles.

What is claimed is:
 1. A method for machining of at least onenon-magnetic material component, the method comprising: positioning thecomponent on at least one clamping magnet arranged on a machining table;arranging at least one magnetic material clamping element on a side ofthe component which is averted from the clamping magnet; activating theclamping magnets whereby the component is fixed in its position by theaid of the clamping element; and adapting the clamping element to theshape of the component.
 2. A method pursuant to claim 1, wherein atleast two components are positioned and fixed on the machining table andthe clamping elements allocated to the components expose an area of apre-defined width along at least one contact line of the components andthe at least two components are welded to each other along at least onecontact line.
 3. A method pursuant to claim 1, wherein one component ispositioned and fixed on the machining table and whereby at least twoclamping elements are allocated to the component, with the clampingelements exposing an area of a pre-defined width along at least onemachining line and in which the component is cut-apart along at leastone line.
 4. A method pursuant to claim 1, wherein after machining of-atleast one component, at least one clamping element is initiallytaken-off from the machining table, whereby at least one clampingelement is positioned on at least one deposition table and in which atleast one machined component is taken-off from the machining table.
 5. Amethod pursuant to claim 4, wherein the clamping element deposited onthe deposition table is taken-off for a new charging procedure andpositioned onto at least one component on the machining table arrangedin the charging position.
 6. A method pursuant to claim 1, whereininitially, by the aid of a grab arm, the clamping element is grabbed bymeans of a grabbing device, then the component is grabbed by the aid ofsuction elements and the clamping element and the component arepositioned jointly on the machining table.
 7. A method pursuant to claim1, wherein: a) the machining table is arranged in a charging positionand a second machining table is arranged in a machining position withina working area of a machining device; b) at least one component ispositioned and fixed on the machining table; c) the first machiningtable is shifted into a machining position and the second machiningtable is shifted into a charging position by the aid of an adjustmentmeans; d) at least one component is machined in the machining device; e)after machining, at least one component is taken-off from the machiningtable; f) during the steps (d) and (e), at least one component isarranged and fixed on the second machining table; g) whereby the steps(c) to (f) are alternately executed for both machining tables; andwherein the machining tables are arranged at different planes one aboveeach other; and the machining tables are shifted linearly between thecharging position and the machining position.
 8. A method pursuant toclaim 7, wherein at least two components are arranged on a machiningtable and connected to each other by the aid of a machining device.
 9. Amethod pursuant to claim 7, wherein at least one component is cut apartby the machining device into at least two parts.
 10. A method pursuantto claim 7, wherein a vertical position of an end effector of themachining device is adapted to match a vertical position of the relevantmachining table in the working area of the machining device.
 11. Amethod pursuant to claim 7, wherein at least one component is adjustedon the machining table by the aid of a stop frame.
 12. A method pursuantto claim 11, wherein a vertical position of the stop frame is adapted tomatch a vertical position of the machining table in the chargingposition.
 13. A method pursuant to claim 7, wherein at least onecomponent is positioned by the aid of a jointing robot on the machiningtable arranged in the charging position.
 14. A method pursuant to claim7, whereby at least one component is taken-off by the aid of a reclaimerrobot from the machining table arranged in the machining position.
 15. Amethod pursuant to claim 13, whereby a vertical position of a grabelement of a jointing robot and/or of a reclaimer robot is adapted tomatch a vertical position of the machining table arranged in thecharging position and/or the machining position.
 16. A method pursuantto claim 1, wherein: a first pile of components is arranged in a firsttake-up area; a second pile of components is arranged in a secondtake-up area; the components are either reclaimed by means of areclaimer device from the first pile or from the second pile; and thefirst take-up area and the second take-up area are arranged at leastpartly one above each other.
 17. A method pursuant to claim 16, whereinthe first take-up area and the second take-up area are arrangedcompletely one above each other.
 18. A method pursuant to claim 16,wherein the components lying one above each other are singularized by asingularization device and in which the singularization device is movedby a lifting device at least within vertical sections corresponding totwo take-up areas.
 19. A method pursuant to claim 16, wherein thecomponents lying one above each other are singularized by the aid of atleast one plate spreading magnet.